i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

updated launch files for new pkg path rtabmap_ros instead of rtabmap

Browse Source
This commit is contained in:
Mathieu Labbe
2014-11-25 17:43:26 -05:00
parent 28fbd1eb97
commit f2ed77f626
34 changed files with 87 additions and 87 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/azimut3/az3_bag_mapping.launch
+2 -2
View File
@@ -6,7 +6,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -47,6 +47,6 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find az3_description)/robots/azimut_3_laser.urdf.xacro'" />
<!-- Visualisation -->
<include file="$(find rtabmap)/launch/azimut3/az3_mapping_client.launch"/>
<include file="$(find rtabmap_ros)/launch/azimut3/az3_mapping_client.launch"/>
</launch>
launch/azimut3/az3_bag_record.launch
+1 -1
View File
@@ -16,7 +16,7 @@
<node pkg="joy" type="joy_node" name="joystick"/>
<!-- OpenNI -->
<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
launch/azimut3/az3_db_record.launch
+2 -2
View File
@@ -7,7 +7,7 @@
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- OpenNI -->
<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
@@ -24,7 +24,7 @@
</node>
</group>
<node name="data_recorder" pkg="rtabmap" type="data_recorder" output="screen">
<node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
<param name="output_file_name" value="az3_record.db" type="string"/>
<param name="frame_id" type="string" value="base_footprint"/>
launch/azimut3/az3_mapping_client.launch
+2 -2
View File
@@ -12,12 +12,12 @@
<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="mapData" to="rtabmap/mapData_relay"/>
<remap from="grid_map" to="rtabmap/grid_map"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3.rviz"/>
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
launch/azimut3/az3_mapping_client_nav.launch
+1 -1
View File
@@ -8,7 +8,7 @@
<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3_nav.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3_nav.rviz"/>
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap/point_cloud_xyzrgb">
launch/azimut3/az3_mapping_client_stereo_nav.launch
+1 -1
View File
@@ -5,5 +5,5 @@
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData_optimized /rtabmap/mapData_relay"/>
<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/stereo_camera/left/image_rect_color raw out:=/stereo_camera/left/image_rect_color_relay" />
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3_stereo_nav.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3_stereo_nav.rviz"/>
</launch>
launch/azimut3/az3_mapping_robot.launch
+2 -2
View File
@@ -6,7 +6,7 @@
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
@@ -26,7 +26,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
launch/azimut3/az3_mapping_robot_kinect_odom.launch
+2 -2
View File
@@ -6,7 +6,7 @@
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
@@ -26,7 +26,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
launch/azimut3/az3_mapping_robot_kinect_only.launch
+2 -2
View File
@@ -9,10 +9,10 @@
<remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
<!-- use same launch file as "Kinect + Odometry" configuration -->
<include file="$(find rtabmap)/launch/azimut3/az3_mapping_robot_kinect_odom.launch"/>
<include file="$(find rtabmap_ros)/launch/azimut3/az3_mapping_robot_kinect_odom.launch"/>
<!-- Odometry -->
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap_ros" type="visual_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
launch/azimut3/az3_mapping_robot_kinect_scan.launch
+2 -2
View File
@@ -6,7 +6,7 @@
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
@@ -33,7 +33,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
launch/azimut3/az3_mapping_robot_nav.launch
+4 -4
View File
@@ -43,7 +43,7 @@
<!-- OpenNI -->
<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
@@ -74,7 +74,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -134,11 +134,11 @@
<param name="RGBD/ToroIterations" type="string" value="0"/>
</node>
<!-- to always have the global map optimized -->
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer"/>
<node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
</group>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="mapData" to="rtabmap/mapData_optimized"/>
<remap from="grid_map" to="map"/>
</node>
launch/azimut3/az3_mapping_robot_stereo_nav.launch
+9 -9
View File
@@ -25,11 +25,11 @@
<remap from="move_base_simple/goal" to="/planner_goal"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find rtabmap)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap)/launch/config/azimut3/local_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap)/launch/config/azimut3/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap)/launch/config/azimut3/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/local_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/base_local_planner_params.yaml" command="load" />
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
@@ -109,7 +109,7 @@
</group>
<!-- Visual Odometry -->
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometry" output="screen">
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
@@ -130,7 +130,7 @@
<group ns="rtabmap">
<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="false"/>
@@ -165,9 +165,9 @@
</node>
<!-- Optimizing outside rtabmap node makes it able to optimize always the global map -->
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer"/>
<node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
<node pkg="rtabmap" type="map_assembler" name="map_assembler">
<node pkg="rtabmap_ros" type="map_assembler" name="map_assembler">
<param name="occupancy_grid" type="bool" value="true"/>
<remap from="mapData" to="mapData_optimized"/>
<remap from="grid_projection_map" to="/map"/>
launch/azimut3/az3_openni.launch
+2 -2
View File
@@ -5,9 +5,9 @@
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="True" />
<arg name="rgb_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
value="file://$(find rtabmap_ros)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
<arg name="depth_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
value="file://$(find rtabmap_ros)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
</include>
<!-- Xtion frame -->
launch/azimut3/az3_remote_find_object.launch
+2 -2
View File
@@ -1,9 +1,9 @@
<launch>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="true" type="bool"/>
<param name="settings_path" value="$(find rtabmap)/launch/config/azimut3_find_object.ini" type="str"/>
<param name="settings_path" value="$(find rtabmap_ros)/launch/config/azimut3_find_object.ini" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(find rtabmap)/launch/config/books" type="str"/>
<param name="objects_path" value="$(find rtabmap_ros)/launch/config/books" type="str"/>
<remap from="rgb/image_rect_color" to="camera/data_throttled_image_relay"/>
<remap from="depth_registered/image_raw" to="camera/data_throttled_image_depth_relay"/>
launch/azimut3/az3_remote_mapping_robot.launch
+1 -1
View File
@@ -6,7 +6,7 @@
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<!-- Throttling messages -->
<group ns="camera">
launch/azimut3/az3_remote_mapping_rviz.launch
+3 -3
View File
@@ -15,7 +15,7 @@
<!-- SLAM client side -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -49,10 +49,10 @@
</node>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
</group>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3.rviz"/>
<!-- Below, construct point cloud of the latest throttled data -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
launch/data_recorder.launch
+1 -1
View File
@@ -1,6 +1,6 @@
<launch>
<node name="data_recorder" pkg="rtabmap" type="data_recorder" output="screen">
<node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
<param name="output_file_name" value="output.db" type="string"/>
<param name="frame_id" type="string" value="camera_link"/>
launch/demo/demo_appearance_localization.launch
+4 -4
View File
@@ -4,7 +4,7 @@
<group ns="rtabmap">
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
<param name="subscribe_depth" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="subscribe_laserScan" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
@@ -23,7 +23,7 @@
</node>
<!-- visualization of the "infoEx" topic sent by rtabmap node -->
<node name="rtabmapviz" pkg="rtabmap" type="rtabmapviz" output="screen" args="-d $(find rtabmap)/launch/config/appearance_gui.ini">
<node name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen" args="-d $(find rtabmap_ros)/launch/config/appearance_gui.ini">
<!-- This enables the GUI to pause a rtabmap/camera when action "pause" is checked. -->
<!-- NOTE: It is specific to rtabmap/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
@@ -33,10 +33,10 @@
</group>
<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
<node name="camera" pkg="rtabmap" type="camera" output="screen">
<node name="camera" pkg="rtabmap_ros" type="camera" output="screen">
<remap from="image" to="image"/>
<param name="device_id" value="0" type="int"/>
<param name="video_or_images_path" value="$(find rtabmap)/data" type="string"/>
<param name="video_or_images_path" value="$(find rtabmap_ros)/data" type="string"/>
<param name="frame_rate" value="2.0" type="double"/>
<param name="width" value="0" type="int"/>
<param name="height" value="0" type="int"/>
launch/demo/demo_appearance_mapping.launch
+4 -4
View File
@@ -6,7 +6,7 @@
<group ns="rtabmap">
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="subscribe_laserScan" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
@@ -26,7 +26,7 @@
</node>
<!-- visualization of the "infoEx" topic sent by rtabmap node -->
<node name="rtabmapviz" pkg="rtabmap" type="rtabmapviz" output="screen" args="-d $(find rtabmap)/launch/config/appearance_gui.ini">
<node name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen" args="-d $(find rtabmap_ros)/launch/config/appearance_gui.ini">
<!-- This enables the GUI to pause a rtabmap/camera when action "pause" is checked. -->
<!-- NOTE: It is specific to rtabmap/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
@@ -36,10 +36,10 @@
</group>
<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
<node name="camera" pkg="rtabmap" type="camera" output="screen">
<node name="camera" pkg="rtabmap_ros" type="camera" output="screen">
<remap from="image" to="image"/>
<param name="device_id" value="0" type="int"/>
<param name="video_or_images_path" value="$(find rtabmap)/data" type="string"/>
<param name="video_or_images_path" value="$(find rtabmap_ros)/data" type="string"/>
<param name="frame_rate" value="2.0" type="double"/>
<param name="width" value="0" type="int"/>
<param name="height" value="0" type="int"/>
launch/demo/demo_data_recorder.launch
+1 -1
View File
@@ -6,7 +6,7 @@
<param name="use_sim_time" type="bool" value="True"/>
<node name="data_recorder" pkg="rtabmap" type="data_recorder" output="screen">
<node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
<param name="output_file_name" value="output.db" type="string"/>
<param name="frame_id" type="string" value="base_footprint"/>
launch/demo/demo_find_object.launch
+5 -5
View File
@@ -6,7 +6,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -49,7 +49,7 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find az3_description)/robots/azimut_3_laser.urdf.xacro'" />
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="mapData" to="rtabmap/mapData"/>
</node>
@@ -58,7 +58,7 @@
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
<!-- Visualisation -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz" output="screen"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3.rviz" output="screen"/>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
@@ -77,9 +77,9 @@
<!-- Find-Object -->
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="true" type="bool"/>
<param name="settings_path" value="$(find rtabmap)/launch/config/find_object.ini" type="str"/>
<param name="settings_path" value="$(find rtabmap_ros)/launch/config/find_object.ini" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(find rtabmap)/launch/config/books" type="str"/>
<param name="objects_path" value="$(find rtabmap_ros)/launch/config/books" type="str"/>
<remap from="rgb/image_rect_color" to="/camera/data_throttled_image"/>
<remap from="depth_registered/image_raw" to="/camera/data_throttled_image_depth"/>
launch/demo/demo_multi-session_mapping.launch
+2 -2
View File
@@ -7,7 +7,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -46,7 +46,7 @@
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
launch/demo/demo_robot_localization.launch
+2 -2
View File
@@ -10,7 +10,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -44,7 +44,7 @@
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
launch/demo/demo_robot_mapping.launch
+2 -2
View File
@@ -9,7 +9,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start --uinfo">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start --uinfo">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -38,7 +38,7 @@
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
launch/demo/demo_robot_mapping_rviz.launch
+3 -3
View File
@@ -10,7 +10,7 @@
<group ns="rtabmap">
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -40,14 +40,14 @@
</node>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler">
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
<param name="unknown_space_filled" type="bool" value="false"/>
</node>
</group>
<!-- Visualisation -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/demo_robot_mapping.rviz" output="screen"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz" output="screen"/>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
launch/demo/demo_stereo_outdoor.launch
+5 -5
View File
@@ -34,7 +34,7 @@
</group>
<!-- Stereo Odometry -->
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometry" output="screen">
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
@@ -55,7 +55,7 @@
<group ns="rtabmap">
<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="false"/>
@@ -90,9 +90,9 @@
</node>
<!-- Optimizing outside rtabmap node makes it able to optimize always the global map -->
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer"/>
<node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
<node pkg="rtabmap" type="map_assembler" name="map_assembler">
<node pkg="rtabmap_ros" type="map_assembler" name="map_assembler">
<param name="occupancy_grid" type="bool" value="true"/>
<remap from="mapData" to="mapData_optimized"/>
<remap from="grid_projection_map" to="/map"/>
@@ -101,6 +101,6 @@
</group>
<!-- RVIZ -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/demo_stereo_outdoor.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_stereo_outdoor.rviz"/>
</launch>
launch/demo/demo_stereo_pr2.launch
+2 -2
View File
@@ -29,7 +29,7 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
@@ -65,7 +65,7 @@
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="queue_size" type="int" value="30"/>
launch/rgbd_localization.launch
+3 -3
View File
@@ -23,7 +23,7 @@
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap" type="rgbd_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
@@ -38,7 +38,7 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
@@ -59,7 +59,7 @@
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="queue_size" type="int" value="30"/>
launch/rgbd_localization_rviz.launch
+3 -3
View File
@@ -23,7 +23,7 @@
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap" type="rgbd_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
@@ -38,7 +38,7 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
@@ -60,7 +60,7 @@
</group>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
launch/rgbd_mapping.launch
+3 -3
View File
@@ -25,7 +25,7 @@
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap" type="rgbd_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
@@ -40,7 +40,7 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
@@ -57,7 +57,7 @@
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="queue_size" type="int" value="30"/>
launch/rgbd_mapping_rviz.launch
+3 -3
View File
@@ -26,7 +26,7 @@
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap" type="rgbd_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
@@ -41,7 +41,7 @@
<!-- Visual SLAM -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
@@ -59,7 +59,7 @@
</group>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
launch/tests/test_odometry.launch
+2 -2
View File
@@ -43,7 +43,7 @@
</node>
<!-- Odometry -->
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap_ros" type="visual_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="camera/rgb/image_rect_color"/>
<remap from="depth/image" to="camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
@@ -57,5 +57,5 @@
<param name="Odom/LocalHistory" type="string" value="$(arg local_map)"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/test_odometry.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/test_odometry.rviz"/>
</launch>
launch/tests/test_stereo_data_recorder.launch
+2 -2
View File
@@ -22,7 +22,7 @@
</node>
-->
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometer" output="screen">
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometer" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info"/>
@@ -56,7 +56,7 @@
</node>
<node name="data_recorder" pkg="rtabmap" type="data_recorder" output="screen">
<node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
<param name="output_file_name" value="output.db" type="string"/>
<param name="frame_id" type="string" value="base_link"/>
launch/tests/test_stereo_odometry.launch
+2 -2
View File
@@ -20,7 +20,7 @@
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
<!-- Odometry -->
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometry" output="screen">
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="left/image_rect"/>
<remap from="right/image_rect" to="right/image_rect"/>
<remap from="left/camera_info" to="left/camera_info"/>
@@ -43,6 +43,6 @@
</group>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/test_odometry.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/test_odometry.rviz"/>
</launch>